TY - GEN
T1 - Kinodynamic motion planning and control for an X4-Flyer using anisotropic damping forces
AU - Motonaka, Kimiko
AU - Watanabe, Keigo
AU - Maeyama, Shoichi
PY - 2013/12/1
Y1 - 2013/12/1
N2 - We present a novel method to control an X4-Flyer using kinodynamic motion planning. Kinodynamic motion planning is the planning technique of generating a control input by solving the problems of kinematic constraints and dynamic constraints simultaneously, and it is useful for simpler generation of the control input. In this paper, we extend existing kinodynamic motion planning, which uses 'Harmonic potential field (HPF)' and some damping forces for the control of simple point mass, to the motion planning for an X4-Flyer, which is a complex multivariable system. Then, we use 'nonlinear anisotropic damping forces (NADFs),' which is proposed by Masoud, as damping force. In the simulation, a method using NADFs is compared with that using viscous damping forces. From the simulation, it is confirmed that the kinodynamic motion planning can be realized for an X4-Flyer.
AB - We present a novel method to control an X4-Flyer using kinodynamic motion planning. Kinodynamic motion planning is the planning technique of generating a control input by solving the problems of kinematic constraints and dynamic constraints simultaneously, and it is useful for simpler generation of the control input. In this paper, we extend existing kinodynamic motion planning, which uses 'Harmonic potential field (HPF)' and some damping forces for the control of simple point mass, to the motion planning for an X4-Flyer, which is a complex multivariable system. Then, we use 'nonlinear anisotropic damping forces (NADFs),' which is proposed by Masoud, as damping force. In the simulation, a method using NADFs is compared with that using viscous damping forces. From the simulation, it is confirmed that the kinodynamic motion planning can be realized for an X4-Flyer.
UR - http://www.scopus.com/inward/record.url?scp=84893816459&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893816459&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696989
DO - 10.1109/IROS.2013.6696989
M3 - Conference contribution
AN - SCOPUS:84893816459
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4407
EP - 4412
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -